US9350977B1 - Rotating point-spread function (PSF) design for three-dimensional imaging - Google Patents
Rotating point-spread function (PSF) design for three-dimensional imaging Download PDFInfo
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- US9350977B1 US9350977B1 US14/202,915 US201414202915A US9350977B1 US 9350977 B1 US9350977 B1 US 9350977B1 US 201414202915 A US201414202915 A US 201414202915A US 9350977 B1 US9350977 B1 US 9350977B1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0075—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for altering, e.g. increasing, the depth of field or depth of focus
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
Definitions
- OAM orbital-angular-momentum
- Imaging systems using an incoherent point-spread function (PSF) that rotates at a uniform rate with changing defocus while maintaining its shape and form approximately have been used to encode the depth of field in a 3D scene with a sensitivity that is nearly uniform over the entire scene.
- PSF point-spread function
- the point-spread function (PSF) in its Gaussian image plane has the conventional, diffraction-limited, tightly focused Airy form. Away from that plane, the PSF broadens rapidly, however, resulting in a loss of sensitivity and transverse resolution that makes such a traditional approach untenable for rapid 3D image acquisition.
- a drawback is that the scanning must be done in focus to maintain high sensitivity and resolution as image data is acquired, slice by slice, from a 3D volume with reduced efficiency.
- the present invention solves the above noted drawbacks by generating a rotating PSF that uses Fresnel zones in the entrance pupil of the imager, with successive zones carrying spiral phase profiles of successively larger topological quantum number.
- the present is superior to the GL-mode-based approach in the sense that it can generate a more compact single-lobe PSF with greater focus independent of its shape. It also permits a ready generalization to nonquadratic but azimuthally symmetric phase aberrations of the imager, and thus furnishes a method for encoding information about any spherical aberrations (SAs) of the imaging optics as well.
- SAs spherical aberrations
- an alternate embodiment of the present invention uses a phase-only mask, which may have a 100% transmission efficiency that is superior to the pure GL modal approach in which the pupil function must be modified both in its amplitude and phase.
- the present invention has an improved sensitivity for the recovery of depth information even under low-light levels.
- the single-lobe character of the PSF because of the single-lobe character of the PSF, the extraction of defocus variation across a densely populated 3D field of point sources is potentially less challenging than with the double-helix PSF with two nearly equally bright but well-separated lobes.
- the present invention provides a computational-imaging approach that also overcomes many of the limitations found in prior approaches.
- Pupil-phase engineering is used to fashion a PSF that maintains its shape and size while rotating uniformly with changing defocus over many waves of defocus phase at the pupil edge.
- FIG. 1 is a schematic of one embodiment of the present invention.
- FIG. 2 is a top schematic view of the embodiment shown in FIG. 1 .
- FIG. 3 is schematic diagram of a specific Fresnel zone with its spiral phase.
- FIGS. 5A and 5B are images of a point-source pair for the two different source separations of 10 and 2 pixel units in the same transverse plane.
- FIGS. 6A and 6B are images of a point-source pair in the line of sight at the center of the field but at two different depths, corresponding to (a) 0 and 6 radians and (b) 0 and 3 radians of defocus phase at the pupil edge.
- FIG. 7 is an image of the inversion-symmetric double-lobed structure of the PSF at wavelength ⁇ 2 .
- FIG. 8 is a plot of PE-MTF and IDF-MTF versus spatial frequency along the x-axis, for 0, 8, and 16 rad of defocus at the pupil edge.
- FIG. 9 is a schematic of another embodiment of the present invention.
- FIG. 10A is an image of a single-lobe PSF.
- FIG. 10B is an image of a two-lobe PSF.
- FIGS. 11A-11C are images of rotating PSF with a changing spherical aberration.
- the present invention provides, as shown in FIGS. 1 and 2 , a segmented pupil or lens 100 made of a plurality of zone elements 101 - 105 .
- FIG. 3 shows an example of an individual zone 110 , which may be a Fresnel zone.
- pupil 100 has a radius R that has been segmented into L different contiguous annular Fresnel zones, with the lth zone having an outer radius equal to R ⁇ square root over (l/L) ⁇ .
- the lth zone is endowed with a spiral phase profile of forml ⁇ that completes lcomplete phase cycles as the azimuthal angle ⁇ completes a single rotation about the optical axis.
- the phase dislocation lines for all the zones are taken to be a single fixed radial line, which may be along the x-axis in the pupil plane.
- Equation (1) For such a phase encoded pupil, as a function of image-plane radial distance and azimuthal angle coordinates, s and ⁇ , the amplitude PSF K is given by the pupil integral of Equation (1):
- K ⁇ ( s , ⁇ ; ⁇ ) 1 ⁇ ⁇ ⁇ u ⁇ 1 ⁇ d 2 ⁇ u ⁇ ⁇ exp ⁇ [ i ⁇ ⁇ 2 ⁇ ⁇ ⁇ ⁇ u ⁇ ⁇ s ⁇ - i ⁇ ⁇ ⁇ ⁇ ⁇ u 2 - i ⁇ ⁇ ⁇ ⁇ ( u ⁇ ) ] , ( 1 )
- ⁇ right arrow over (s) ⁇ is the image-plane position vector ⁇ right arrow over (r) ⁇ normalized by the in-focus diffraction spot-radius parameter at the imaging wavelength ⁇ for the in-focus object plane a distance l 0 from the pupil
- the defocus parameter ⁇ is related to the object-plane distance ⁇ z from the in-focus object plane as
- the prefactor in this expression also indicates that the PSF must break apart for values of ⁇ outside the range ( ⁇ L ⁇ , L ⁇ ) over which the PSF performs one complete rotation. These properties of the PSF are easily verified by means of the numerically evaluated exact expression.
- Expression (9) may be transformed via the divergence theorem, into an integral form over any domain D bounded by the dosed curve C in the image plane
- vector field h ⁇ right arrow over ( ⁇ ) ⁇ K represents an approximate boundary probability-flux density per unit cross-length that determines what fraction of the PSF that may be lost from D through C.
- Equation 10 The conservation law (Equation 10) shows why adding rotation stabilizes the PSF against spreading.
- the flux density vector h ⁇ right arrow over ( ⁇ ) ⁇ K is dominated by its azimuthal component, proportional to ⁇ K / ⁇ , for which the PSF merely circulates without spreading as the defocus ⁇ is varied.
- the evolution of the PSF area contained in such a rotating domain is sensitive to only differential rotations between different parts of the PSF and to any residual, diffusive radial spreading, as described by Equation(9).
- the surface plot of /K/ 2 , with K given by expression (4), is made at a succession of increasing values of the defocus parameter ⁇ . While the PSF remains nearly shape and size invariant as it rotates at the rate of 1/L radians per unit defocus phase completing a full rotation for a defocus change of about 2 ⁇ L radians, in consistency with the approximate result (6), there is clear evidence of differential rotation and slow spreading.
- the secondary lobe of the PSF clearly lags the main lobe even as the latter shears under differential rotation.
- the PSF After a complete rotation the PSF begins to show rapid break-up and spreading, presaged by the ⁇ —dependent sine prefactor in the approximate expression (6). But over the same range of defocus values from ⁇ 24 rad to 24 rad, the ideal diffraction-limited (IDL) PSF exhibits no rotation but a rapid spreading away from zero defocus, as is well known, and shown in the bottom panel of plots.
- IDL diffraction-limited
- a nonzero defocus of a point source means a quadratic optical phase in the pupil that, because of the square-root dependence of the zone radius on the zone number, increases on average by the same amount from one zone to the next.
- This uniformly incrementing phase yields, in effect, a rotation of the phase dislocation line, and thus a rotated PSF. Since the zone-to-zone phase increment depends linearly on defocus to first order, the PSF rotates uniformly with changing defocus to that order. The breakdown of this first-order approximation occurs slowly over a complete rotation of the PSF, corresponding to a change of about 2 ⁇ L radians of defocus phase at the pupil edge.
- the shape and size invariance of the rotating PSF allows for rapid acquisition of a full three-dimensional (3D) image scene with high sensitivity. It also permits an efficient recovery of their full three-dimensional coordinates.
- G denotes the two-dimensional noisy image data matrix, H(r i , z i ) the rotating PSF (blur) matrix for the ith point source of flux F i , transverse location r i , and depth z i .
- the number of sources, P is not known a priori but is to be estimated from the data.
- the minimization of (11) is performed iteratively until agreement with noise is attained, roughly when the average X 2 -value equal to the number of image-plane pixels is reached.
- the procedure is repeated for different values of P starting from 1 until the minimum value of the cost function is consistent with the mean X 2 value.
- the starting point-source locations are dictated by the spatial distribution of the image data and are chosen to allow for spatial overlap between the estimate computed from the forward model based on these locations and the image data to induce the optimization algorithm to move the estimate down the cost-function landscape in the space of the parameters being estimated. All the source fluxes were started at zero value as were all the depth coordinates.
- FIG. 5A shows the images of two point sources that are 10 pixels apart, but when they are brought closer together, placing them only 2 units apart along the short dimension of the PSF, their noise-free images overlap considerably, as shown in FIG. 5B , and the sources may be regarded as being barely, if at all, resolvable.
- both the one-source and two-source starting assumptions produce comparable cost-function minima, as in FIG. 5B .
- the ability to achieve arbitrary amounts of spatial resolution depends on the SNR.
- the number of iterations to achieve the minimum value of the cost function is about 50.
- the first case corresponds to z-resolvable sources, while in the latter case the sources seem visually irresolvable.
- an analysis of depth estimates shows that in both cases the depth estimates are quite accurate. This is supported by the observation that the minimum value of the cost function is well within ⁇ 2 ⁇ of the mean X 2 value of N P 2 /2 for both cases when the correct two-source assumption is made in the reconstruction.
- FIG. 9 shows the minimum cost function for the same ten PSNR values discussed earlier for the correct two-source assumption and the incorrect one-source assumption m the two cases.
- two wavelengths ⁇ 1 and ⁇ 2 were selected to be such that the ratio (r 1 ⁇ 1)/ ⁇ 1 :(r 2 ⁇ 1)/ ⁇ 2 is 1:2, where r 1 and r 2 are the indices of refraction of the spiral glass structure at the two wavelengths.
- the ratio of the rates of PSF rotation at the two different ⁇ 's can be easily shown to be (r 1 ⁇ 1)/(r 2 ⁇ 1).
- a spatial-light modulator such as a liquid-crystal array, located either in the aperture plane or a conjugate plane thereof, can create, on demand, by means of a voltage modulation, a spiral phase structure of the requisite winding number from zone to zone. This has the advantage of not relying on any extraneous assumptions that may not be justified.
- an application of one embodiment of the present invention is for use with a 3D imager.
- the imager may be used as a target or object acquisition unit and system that is capable of monitoring moving objects, such as space debris, of all different sizes and origins for their field locations as well as their ranges.
- moving objects such as space debris
- the rotating-PSF concept presents a technique for rapid snapshot imaging of a large 3D field of debris and other objects.
- FIG. 8 shows the modulation transfer function (MTF) along the x axis in the spatial frequency plane for three different defocus values—namely, 0, 8, and 16 rad at the pupil edge for the device.
- MTF modulation transfer function
- the corresponding MTFs for diffraction-limited imaging from a clear aperture without any phase mask are also shown in FIG. 8 .
- the ideal diffraction-limited MTF (IDL-MTF) without the phase mask degrades rapidly with increasing defocus at the higher spatial frequencies.
- the PE-MTF maintains a central core around the dc while remaining an order of magnitude or higher above the corresponding IDL-MTF away from the dc.
- the PE-MTF transmits midrange spatial frequencies suitable for the deblurring of 3D images out to much lower signal-to-noise ratio (SNR) values.
- SNR signal-to-noise ratio
- Equation (13) shows little degradation of performance when the wavelength range is less than 5% of the central wavelength.
- a combined use of multilevel masks and carefully chosen material dispersion may extend the usable wavelength range of the PSF.
- the general approach of PSF rotation of the present invention generalizes readily from defocus to primary SA for which the pupil phase has a quartic, rather than quadratic, dependence on ⁇ .
- the zone radii may also be scaled with an index such as l as l 1 ⁇ 4 rather than l 1 ⁇ 2 , while retaining the same spiraling mask phase form, namely l ⁇ ⁇ in the lth zone.
- FIGS. 1-3 another embodiment of the invention, made in accordance with the above description, concerns an optical imaging system that includes an aperture 100 comprising a plurality of concentric annuli 101 - 105 , although any desired number of rings or zones may be used.
- each l-thannulus of the plurality of annuli has an azimuthally linearly increasing phase profile comprising n complete cycles for a given light wavelength.
- each of the annuli steadily increases in height from zero to a height of ⁇ n at edge 202 or a height of ⁇ L at edge 201 , with ⁇ equal to the ⁇ /(r ⁇ 1), ⁇ equal to the wavelength, r equal to the index of refraction, and l/L equal to the zone index.
- the outer radius of each zone is R ⁇ right arrow over (lL) ⁇ . While FIG. 1 shows a 5-zone index any number of zones may be used.
- Optical element 100 may also include an additional focusing surface 210 .
- Surface 210 may be plano-convex and designed to form the image of a point source on an imaging sensor 300 as shown in FIG. 9 .
- Any known imaging sensor may be used such as charged coupled device to convert the image into an electrical signal which may represent one or more point spread functions.
- a computational processor may be provided to convert the corresponding electrical signals into an image.
- Applications for the embodiment include, but are not limited to, microscopes, telescopes, and target recognition systems.
- the present invention also includes a method for locating as point source in three-dimensions with an optical system having a circular pupil aperture as described above.
- the method comprises generating a rotating point spread function (PSF) that maintains its shape and size in the image plane of the circular pupil aperture by rotating relative to its in-focus form by an angle that is proportional to the source defocus.
- the PSF may continuously rotate with a changing defocus.
- the PSF may also maintains its shape and size while rotating uniformly with changing defocus over a narrow plurality of light wavelengths at the circular pupil aperture.
- the circular pupil aperture may be divided into LFresnel zones, with the lth zone having an outer radius proportional to ⁇ l and having a spiral phase profile of form l ⁇ on a light wavelength, where ⁇ is the azimuthal angle coordinate measured from a fixed x axis in the plane of said pupil.
- yet another embodiment provides an optical imaging system having an aperture comprising a circular pupil having an optical axis and a plurality of successive Fresnel zones at the entrance of the pupil.
- Each successive Fresnel zone has a spiral phase profile and each successive spiral phase profile has a successively larger topological winding number from one zone to the next.
- the circular pupil has a radius R that is segmented into L different contiguous annular successive Fresnel zones with the lth zone having an outer radius equal to R ⁇ square root over (l/L) ⁇ .
- the zones of the optical element may be clear and transparent, creating a fully transmissive device that preserves the total light power from the source space to the image plane.
- the device may include a convex surface 210 that forms an image in the sensor plane such as the image plane of a microscope.
- FIG. 9 shows another embodiment of the invention. It shows a schematic optical beam path of a microscope using optical element 400 made in accordance with the above teachings.
- the optical element may create one or more rotated images corresponding to one or more point sources.
- FIG. 9 shows two point sources 402 and 403 that are located on optical axis 410 at two different depths.
- Rays 440 - 443 illustrate the formation of images for the two point sources located below the optical element.
- These images are rotated versions of essentially the same PSF.
- the rotation of the PSF with changing defocus takes place on a circle of radius 450 determined by the number of zones, L, at a rate that is inversely proportional to L.
- image 502 corresponds to point source 402
- image 503 corresponds to point source 403 .
- images 502 and 503 are on the same circle 450 they have different angular locations on the sensor plane that are encode and thus may be used to determine axial depth.
- their images are located on a circle of the same radius and the center of the circle is located where the line of sight pierces the sensor plane.
- the distance along the optical axis for which the PSF rotates without change of shape or size is on an order of 2L which typically is considerably larger than that of conventional microscopes in which the pupil aperture is kept free of any intentional phase aberrations.
- the device can serve to provide depth-extended imaging of 3D sources over a small range of field depths.
- FIGS. 10A and 10B provide two examples of PSFs.
- FIG. 10A is an example of a single-lobe PSF and
- FIG. 10B is an example of a two-lobe PSF. These are formed by controlling the step increase in the topological winding number of optical phase from one Fresnel zone to the next larger one at 1 and 2, respectively. Many other forms of the PSF are possible, as controlled by the step increase in the winding number. All PSF designs resulting from any regular step increase in the phase winding number from one zone to the next are covered by the present claims.
- SA spherical aberration
- This design which is a variant of the Fresnel-zone-based design of the optical element presented in FIGS. 1 and 2 , is yet another embodiment.
- the outer radius of the lth zone in the optical element of radius R is equal to R(l/L) 1 ⁇ 4 .
- the lth zone carries a spiral optical phase that performs l complete cycles in one complete circuit around the optical axis.
- the optical-element can be utilized in a microscope which can measure the SA of its own convex focusing surface.
- the PSF structure obtained by means of this optical element is shown in FIGS. 11A-11C for three different representative values of SA.
- the rotation of the PSF provides a direct measure of the amount of SA, as the succession of the PSFs with changing SA shows.
- optical elements described above may also be placed in a separate, conjugate plane with respect to the pupil aperture by means of an optical relay system.
- Such an optical-relay-based design in which the focusing element and the optical element giving rise to shape and size-invariant rotating PSF are in mutually conjugate planes, rather than on a single physical element, is also covered by the present claims.
- optical elements include three-dimensional (3D) source localization for single-molecule biological microscopy. Deep retinal snapshot imaging for early detection and 3D localization of retinal defects. Space-based debris localization and tracking for military applications and 3D optical localization and tracking of particulate contaminants in an otherwise pure and optically clear medium for industrial applications.
- 3D source localization for single-molecule biological microscopy.
- Deep retinal snapshot imaging for early detection and 3D localization of retinal defects.
- the concept may be extended to furnish a 3D localization system in any wave domain, including ultrasound and acoustic wave sensors, transducers, and focusing elements.
- the present claims cover such extensions as well.
Abstract
Description
which is easily verified from the integral expression (1) for K. Here {right arrow over (∇)} denotes the two-dimensional gradient operator in the image plane. Equation (7) is formally identical to the Schrödinger equation of motion for the wavefunction of a free particle in quantum mechanics (QM). It therefore admits a simple conservation law for the intensity PSF,h=/K/2, rather analogous to the probability flux conservation law in QM,
which may be expressed more simply in terms of h and the phase of K, namely ΨK, by substituting K=√{square root over (h)}exp(iΨK),
as long as δzmin<<l0. The δzmin scales quadratically with range l0, but as l0 becomes so large that δzmin becomes comparable to or larger than l0 then, as the definition (3) suggests, ζ becomes independent of δz, and the imager can no longer resolve such large depths.
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